// This file is part of the AliceVision project.
// Copyright (c) 2016 AliceVision contributors.
// Copyright (c) 2012 openMVG contributors.
// This Source Code Form is subject to the terms of the Mozilla Public License,
// v. 2.0. If a copy of the MPL was not distributed with this file,
// You can obtain one at https://mozilla.org/MPL/2.0/.

#pragma once

#include <aliceVision/types.hpp>
#include <aliceVision/matching/MatchesCollections.hpp>
#include <aliceVision/matchingImageCollection/GeometricFilterMatrix.hpp>
#include <aliceVision/matchingImageCollection/geometricFilterUtils.hpp>
#include <aliceVision/robustEstimation/ACRansac.hpp>
#include <aliceVision/matching/guidedMatching.hpp>
#include <aliceVision/matching/supportEstimation.hpp>
#include <aliceVision/multiview/RelativePoseKernel.hpp>
#include <aliceVision/multiview/relativePose/Essential5PSolver.hpp>
#include <aliceVision/multiview/relativePose/FundamentalError.hpp>
#include <aliceVision/multiview/essential.hpp>
#include <aliceVision/multiview/RelativePoseKernel.hpp>
#include <aliceVision/feature/RegionsPerView.hpp>
#include <aliceVision/sfmData/SfMData.hpp>
#include <aliceVision/camera/Pinhole.hpp>

#include <limits>

namespace aliceVision {
namespace matchingImageCollection {

/**
 * @brief A contrario essential matrix estimation template functor used for filter pair of putative correspondences
 */
struct GeometricFilterMatrix_E_AC : public GeometricFilterMatrix
{
    GeometricFilterMatrix_E_AC(double dPrecision = std::numeric_limits<double>::infinity(), std::size_t iteration = 1024)
      : GeometricFilterMatrix(dPrecision, std::numeric_limits<double>::infinity(), iteration),
        m_E(Mat3::Identity())
    {}

    /**
     * @brief Given two sets of image points, it estimates the essential matrix
     *        relating them using a robust method (like A Contrario Ransac).
     */
    template<typename Regions_or_Features_ProviderT>
    EstimationStatus geometricEstimation(const sfmData::SfMData& sfmData,
                                         const Regions_or_Features_ProviderT& regionsPerView,
                                         const Pair& pairIndex,
                                         const matching::MatchesPerDescType& putativeMatchesPerType,
                                         std::mt19937& randomNumberGenerator,
                                         matching::MatchesPerDescType& out_geometricInliersPerType)
    {
        out_geometricInliersPerType.clear();

        // get back corresponding view index
        const IndexT I = pairIndex.first;
        const IndexT J = pairIndex.second;

        const std::vector<feature::EImageDescriberType> descTypes = regionsPerView.getCommonDescTypes(pairIndex);

        if (descTypes.empty())
            return EstimationStatus(false, false);

        // reject pair with missing Intrinsic information
        const sfmData::View& viewI = sfmData.getView(I);
        const sfmData::View& viewJ = sfmData.getView(J);

        // Check that valid cameras can be retrieved for the pair of views
        std::shared_ptr<camera::IntrinsicBase> cam_I = sfmData.getIntrinsicSharedPtr(viewI.getIntrinsicId());
        std::shared_ptr<camera::IntrinsicBase> cam_J = sfmData.getIntrinsicSharedPtr(viewJ.getIntrinsicId());

        if (!cam_I || !cam_J)
            return EstimationStatus(false, false);

        std::shared_ptr<camera::Pinhole> castedCam_I = std::dynamic_pointer_cast<camera::Pinhole>(cam_I);
        std::shared_ptr<camera::Pinhole> castedCam_J = std::dynamic_pointer_cast<camera::Pinhole>(cam_J);
        if (castedCam_I == nullptr || castedCam_J == nullptr)
        {
            return EstimationStatus(false, false);
        }

        // get corresponding point regions arrays
        Mat xI, xJ;
        fillMatricesWithUndistortFeaturesMatches(pairIndex, putativeMatchesPerType, sfmData, regionsPerView, descTypes, xI, xJ);

        // define the AContrario adapted Essential matrix solver
        using KernelT = multiview::RelativePoseKernel_K<multiview::relativePose::Essential5PSolver,
                                                        multiview::relativePose::FundamentalEpipolarDistanceError,
                                                        robustEstimation::Mat3Model>;

        KernelT kernel(xI,
                       viewI.getImage().getWidth(),
                       viewI.getImage().getHeight(),
                       xJ,
                       viewJ.getImage().getWidth(),
                       viewJ.getImage().getHeight(),
                       castedCam_I->K(),
                       castedCam_J->K());

        // robustly estimate the Essential matrix with A Contrario ransac
        const double upperBoundPrecision = Square(m_dPrecision);

        std::vector<std::size_t> inliers;
        robustEstimation::Mat3Model model;
        const std::pair<double, double> ACRansacOut =
          robustEstimation::ACRANSAC(kernel, randomNumberGenerator, inliers, m_stIteration, &model, upperBoundPrecision);
        m_E = model.getMatrix();

        if (inliers.empty())
            return EstimationStatus(false, false);

        m_dPrecision_robust = ACRansacOut.first;

        // fill geometricInliersPerType with inliers from putativeMatchesPerType
        copyInlierMatches(inliers, putativeMatchesPerType, descTypes, out_geometricInliersPerType);

        // check if resection has strong support
        const bool hasStrongSupport = matching::hasStrongSupport(out_geometricInliersPerType, kernel.getMinimumNbRequiredSamples());

        return EstimationStatus(true, hasStrongSupport);
    }

    /**
     * @brief Geometry_guided_matching
     * @param sfmData
     * @param regionsPerView
     * @param imageIdsPair
     * @param dDistanceRatio
     * @param matches
     * @return
     */
    bool Geometry_guided_matching(const sfmData::SfMData& sfmData,
                                  const feature::RegionsPerView& regionsPerView,
                                  const Pair imageIdsPair,
                                  const double dDistanceRatio,
                                  matching::MatchesPerDescType& matches) override
    {
        if (!std::isinf(m_dPrecision_robust))
        {
            // get back corresponding view index
            const IndexT I = imageIdsPair.first;
            const IndexT J = imageIdsPair.second;

            const sfmData::View& viewI = sfmData.getView(I);
            const sfmData::View& viewJ = sfmData.getView(J);

            // check that valid cameras can be retrieved for the pair of views
            const camera::IntrinsicBase* camI =
              sfmData.getIntrinsics().count(viewI.getIntrinsicId()) ? sfmData.getIntrinsics().at(viewI.getIntrinsicId()).get() : nullptr;
            const camera::IntrinsicBase* camJ =
              sfmData.getIntrinsics().count(viewJ.getIntrinsicId()) ? sfmData.getIntrinsics().at(viewJ.getIntrinsicId()).get() : nullptr;
            if (!camI || !camJ)
                return false;

            if (!isPinhole(camI->getType()) || !isPinhole(camJ->getType()))
                return false;

            const camera::Pinhole* ptrPinholeI = (const camera::Pinhole*)(camI);
            const camera::Pinhole* ptrPinholeJ = (const camera::Pinhole*)(camJ);

            Mat3 F;
            fundamentalFromEssential(m_E, ptrPinholeI->K(), ptrPinholeJ->K(), &F);

            robustEstimation::Mat3Model model(F);
            // multiview::relativePose::FundamentalSymmetricEpipolarDistanceError
            matching::guidedMatching<robustEstimation::Mat3Model, multiview::relativePose::FundamentalEpipolarDistanceError>(
              model,
              camI,
              regionsPerView.getAllRegions(I),
              camJ,
              regionsPerView.getAllRegions(J),
              Square(m_dPrecision_robust),
              Square(dDistanceRatio),
              matches);
        }

        return matches.getNbAllMatches() != 0;
    }

    Eigen::Matrix3d getMatrix() { return m_E; }

    /**
     * @return geometric filter type represented by this class
     */
    EGeometricFilterType getType() { return EGeometricFilterType::ESSENTIAL_MATRIX; }

    // stored data
    Mat3 m_E;
};

}  // namespace matchingImageCollection
}  // namespace aliceVision
